mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 04:00:34 +00:00
Make code more readable
This commit is contained in:
Carles Fernandez
parent
f49e5ae3b0
commit
847db9ea10
@ -183,101 +183,113 @@ void rtkclosestat(void)
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/* write solution status to buffer -------------------------------------------*/
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void rtkoutstat(rtk_t *rtk, char *buff)
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{
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ssat_t *ssat;
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double tow,pos[3],vel[3],acc[3],vela[3]={0},acca[3]={0},xa[3];
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int i,j,week,est,nfreq,nf=NF_RTK(&rtk->opt);
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char id[32];
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ssat_t *ssat;
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double tow, pos[3], vel[3], acc[3], vela[3] = {0}, acca[3] = {0}, xa[3];
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int i, j, week, est, nfreq, nf = NF_RTK(&rtk->opt);
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char id[32];
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if (statlevel<=0||!fp_stat) return;
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if (statlevel <= 0 || !fp_stat) return;
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trace(3,"outsolstat:\n");
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trace(3, "outsolstat:\n");
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/* swap solution status file */
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swapsolstat();
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/* swap solution status file */
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swapsolstat();
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est=rtk->opt.mode>=PMODE_DGPS;
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nfreq=est?nf:1;
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tow=time2gpst(rtk->sol.time,&week);
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est = rtk->opt.mode >= PMODE_DGPS;
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nfreq = est ? nf : 1;
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tow = time2gpst(rtk->sol.time, &week);
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/* receiver position */
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if (est) {
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for (i=0;i<3;i++) xa[i]=i<rtk->na?rtk->xa[i]:0.0;
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fprintf(fp_stat,"$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n",week,tow,
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rtk->sol.stat,rtk->x[0],rtk->x[1],rtk->x[2],xa[0],xa[1],xa[2]);
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}
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else {
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fprintf(fp_stat,"$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n",week,tow,
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rtk->sol.stat,rtk->sol.rr[0],rtk->sol.rr[1],rtk->sol.rr[2],
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0.0,0.0,0.0);
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}
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/* receiver velocity and acceleration */
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if (est&&rtk->opt.dynamics) {
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ecef2pos(rtk->sol.rr,pos);
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ecef2enu(pos,rtk->x+3,vel);
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ecef2enu(pos,rtk->x+6,acc);
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if (rtk->na>=6) ecef2enu(pos,rtk->xa+3,vela);
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if (rtk->na>=9) ecef2enu(pos,rtk->xa+6,acca);
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fprintf(fp_stat,"$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
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week,tow,rtk->sol.stat,vel[0],vel[1],vel[2],acc[0],acc[1],acc[2],
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vela[0],vela[1],vela[2],acca[0],acca[1],acca[2]);
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}
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else {
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ecef2pos(rtk->sol.rr,pos);
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ecef2enu(pos,rtk->sol.rr+3,vel);
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fprintf(fp_stat,"$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
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week,tow,rtk->sol.stat,vel[0],vel[1],vel[2],
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0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0);
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}
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/* receiver clocks */
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fprintf(fp_stat,"$CLK,%d,%.3f,%d,%d,%.3f,%.3f,%.3f,%.3f\n",
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week,tow,rtk->sol.stat,1,rtk->sol.dtr[0]*1E9,rtk->sol.dtr[1]*1E9,
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rtk->sol.dtr[2]*1E9,rtk->sol.dtr[3]*1E9);
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/* receiver position */
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if (est)
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{
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for (i = 0;i<3;i++) xa[i] = i < rtk->na ? rtk->xa[i] : 0.0;
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fprintf(fp_stat, "$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n", week, tow,
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rtk->sol.stat, rtk->x[0], rtk->x[1], rtk->x[2], xa[0], xa[1], xa[2]);
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}
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else
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{
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fprintf(fp_stat, "$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n", week, tow,
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rtk->sol.stat, rtk->sol.rr[0], rtk->sol.rr[1], rtk->sol.rr[2],
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0.0, 0.0, 0.0);
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}
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/* receiver velocity and acceleration */
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if (est && rtk->opt.dynamics)
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{
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ecef2pos(rtk->sol.rr, pos);
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ecef2enu(pos, rtk->x+3, vel);
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ecef2enu(pos, rtk->x+6, acc);
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if (rtk->na >= 6) ecef2enu(pos, rtk->xa+3, vela);
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if (rtk->na >= 9) ecef2enu(pos, rtk->xa+6, acca);
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fprintf(fp_stat, "$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
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week, tow, rtk->sol.stat, vel[0], vel[1], vel[2], acc[0], acc[1], acc[2],
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vela[0], vela[1], vela[2], acca[0], acca[1], acca[2]);
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}
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else
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{
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ecef2pos(rtk->sol.rr, pos);
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ecef2enu(pos, rtk->sol.rr+3, vel);
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fprintf(fp_stat, "$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
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week, tow, rtk->sol.stat, vel[0], vel[1], vel[2],
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
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}
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/* receiver clocks */
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fprintf(fp_stat, "$CLK,%d,%.3f,%d,%d,%.3f,%.3f,%.3f,%.3f\n",
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week, tow, rtk->sol.stat, 1, rtk->sol.dtr[0]*1E9, rtk->sol.dtr[1]*1E9,
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rtk->sol.dtr[2]*1E9, rtk->sol.dtr[3]*1E9);
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/* ionospheric parameters */
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if (est&&rtk->opt.ionoopt==IONOOPT_EST) {
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for (i=0;i<MAXSAT;i++) {
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ssat=rtk->ssat+i;
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if (!ssat->vs) continue;
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satno2id(i+1,id);
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j=II_RTK(i+1,&rtk->opt);
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xa[0]=j<rtk->na?rtk->xa[j]:0.0;
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fprintf(fp_stat,"$ION,%d,%.3f,%d,%s,%.1f,%.1f,%.4f,%.4f\n",week,tow,rtk->sol.stat,
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id,ssat->azel[0]*R2D,ssat->azel[1]*R2D,rtk->x[j],xa[0]);
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}
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}
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/* tropospheric parameters */
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if (est&&(rtk->opt.tropopt==TROPOPT_EST||rtk->opt.tropopt==TROPOPT_ESTG)) {
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for (i=0;i<2;i++) {
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j=IT_RTK(i,&rtk->opt);
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xa[0]=j<rtk->na?rtk->xa[j]:0.0;
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fprintf(fp_stat,"$TROP,%d,%.3f,%d,%d,%.4f,%.4f\n",week,tow,rtk->sol.stat,
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i+1,rtk->x[j],xa[0]);
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}
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}
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/* receiver h/w bias */
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if (est&&rtk->opt.glomodear==2) {
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for (i=0;i<nfreq;i++) {
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j=IL_RTK(i,&rtk->opt);
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xa[0]=j<rtk->na?rtk->xa[j]:0.0;
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fprintf(fp_stat,"$HWBIAS,%d,%.3f,%d,%d,%.4f,%.4f\n",week,tow,rtk->sol.stat,
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i+1,rtk->x[j],xa[0]);
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}
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}
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if (rtk->sol.stat==SOLQ_NONE||statlevel<=1) return;
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/* ionospheric parameters */
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if (est && rtk->opt.ionoopt == IONOOPT_EST)
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{
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for (i = 0;i<MAXSAT;i++)
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{
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ssat = rtk->ssat+i;
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if (!ssat->vs) continue;
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satno2id(i+1, id);
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j = II_RTK(i+1, &rtk->opt);
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xa[0] = j < rtk->na ? rtk->xa[j] : 0.0;
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fprintf(fp_stat, "$ION,%d,%.3f,%d,%s,%.1f,%.1f,%.4f,%.4f\n", week, tow, rtk->sol.stat,
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id, ssat->azel[0]*R2D, ssat->azel[1]*R2D, rtk->x[j], xa[0]);
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}
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}
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/* tropospheric parameters */
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if (est && (rtk->opt.tropopt == TROPOPT_EST || rtk->opt.tropopt == TROPOPT_ESTG))
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{
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for (i = 0;i<2;i++)
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{
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j = IT_RTK(i, &rtk->opt);
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xa[0] = j < rtk->na ? rtk->xa[j] : 0.0;
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fprintf(fp_stat, "$TROP,%d,%.3f,%d,%d,%.4f,%.4f\n", week, tow, rtk->sol.stat,
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i+1, rtk->x[j], xa[0]);
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}
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}
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/* receiver h/w bias */
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if (est && rtk->opt.glomodear == 2)
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{
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for (i = 0;i<nfreq;i++)
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{
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j = IL_RTK(i, &rtk->opt);
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xa[0] = j < rtk->na ? rtk->xa[j] : 0.0;
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fprintf(fp_stat, "$HWBIAS,%d,%.3f,%d,%d,%.4f,%.4f\n", week, tow, rtk->sol.stat,
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i+1, rtk->x[j], xa[0]);
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}
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}
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if (rtk->sol.stat == SOLQ_NONE || statlevel <= 1) return;
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/* residuals and status */
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for (i=0;i<MAXSAT;i++) {
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ssat=rtk->ssat+i;
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if (!ssat->vs) continue;
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satno2id(i+1,id);
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for (j=0;j<nfreq;j++) {
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fprintf(fp_stat,"$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%d,%d,%d\n",
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week,tow,id,j+1,ssat->azel[0]*R2D,ssat->azel[1]*R2D,
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ssat->resp [j],ssat->resc[j], ssat->vsat[j],ssat->snr[j]*0.25,
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ssat->fix [j],ssat->slip[j]&3,ssat->lock[j],ssat->outc[j],
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ssat->slipc[j],ssat->rejc[j]);
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}
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}
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/* residuals and status */
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for (i = 0;i<MAXSAT;i++)
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{
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ssat = rtk->ssat+i;
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if (!ssat->vs) continue;
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satno2id(i+1, id);
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for (j = 0;j<nfreq;j++)
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{
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fprintf(fp_stat, "$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%d,%d,%d\n",
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week, tow, id, j+1, ssat->azel[0]*R2D, ssat->azel[1]*R2D,
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ssat->resp [j], ssat->resc[j], ssat->vsat[j], ssat->snr[j]*0.25,
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ssat->fix [j], ssat->slip[j]&3, ssat->lock[j], ssat->outc[j],
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ssat->slipc[j], ssat->rejc[j]);
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}
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}
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}
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@ -312,101 +324,113 @@ void swapsolstat(void)
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/* output solution status ----------------------------------------------------*/
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void outsolstat(rtk_t *rtk)
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{
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ssat_t *ssat;
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double tow,pos[3],vel[3],acc[3],vela[3]={0},acca[3]={0},xa[3];
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int i,j,week,est,nfreq,nf=NF_RTK(&rtk->opt);
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char id[32];
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ssat_t *ssat;
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double tow, pos[3], vel[3], acc[3], vela[3] = {0}, acca[3] = {0}, xa[3];
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int i, j, week, est, nfreq, nf = NF_RTK(&rtk->opt);
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char id[32];
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if (statlevel<=0||!fp_stat) return;
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if (statlevel <= 0 || !fp_stat) return;
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trace(3,"outsolstat:\n");
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trace(3, "outsolstat:\n");
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/* swap solution status file */
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swapsolstat();
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/* swap solution status file */
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swapsolstat();
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est=rtk->opt.mode >= PMODE_DGPS;
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nfreq=est?nf:1;
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tow=time2gpst(rtk->sol.time,&week);
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est = rtk->opt.mode >= PMODE_DGPS;
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nfreq = est ? nf : 1;
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tow = time2gpst(rtk->sol.time, &week);
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/* receiver position */
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if (est) {
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for (i=0;i<3;i++) xa[i]=i<rtk->na?rtk->xa[i]:0.0;
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fprintf(fp_stat,"$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n",week,tow,
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rtk->sol.stat,rtk->x[0],rtk->x[1],rtk->x[2],xa[0],xa[1],xa[2]);
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}
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else {
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fprintf(fp_stat,"$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n",week,tow,
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rtk->sol.stat,rtk->sol.rr[0],rtk->sol.rr[1],rtk->sol.rr[2],
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0.0,0.0,0.0);
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}
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/* receiver velocity and acceleration */
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if (est&&rtk->opt.dynamics) {
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ecef2pos(rtk->sol.rr,pos);
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ecef2enu(pos,rtk->x+3,vel);
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ecef2enu(pos,rtk->x+6,acc);
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if (rtk->na>=6) ecef2enu(pos,rtk->xa+3,vela);
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if (rtk->na>=9) ecef2enu(pos,rtk->xa+6,acca);
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fprintf(fp_stat,"$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
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week,tow,rtk->sol.stat,vel[0],vel[1],vel[2],acc[0],acc[1],acc[2],
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vela[0],vela[1],vela[2],acca[0],acca[1],acca[2]);
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}
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else {
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ecef2pos(rtk->sol.rr,pos);
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ecef2enu(pos,rtk->sol.rr+3,vel);
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fprintf(fp_stat,"$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
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week,tow,rtk->sol.stat,vel[0],vel[1],vel[2],
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0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0);
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}
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/* receiver clocks */
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fprintf(fp_stat,"$CLK,%d,%.3f,%d,%d,%.3f,%.3f,%.3f,%.3f\n",
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week,tow,rtk->sol.stat,1,rtk->sol.dtr[0]*1E9,rtk->sol.dtr[1]*1E9,
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rtk->sol.dtr[2]*1E9,rtk->sol.dtr[3]*1E9);
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/* receiver position */
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if (est)
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{
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for (i = 0;i<3;i++) xa[i] = i < rtk->na ? rtk->xa[i] : 0.0;
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fprintf(fp_stat, "$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n", week, tow,
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rtk->sol.stat, rtk->x[0], rtk->x[1], rtk->x[2], xa[0], xa[1], xa[2]);
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}
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else
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{
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fprintf(fp_stat, "$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n", week, tow,
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rtk->sol.stat, rtk->sol.rr[0], rtk->sol.rr[1], rtk->sol.rr[2],
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0.0, 0.0, 0.0);
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}
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/* receiver velocity and acceleration */
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if (est && rtk->opt.dynamics)
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{
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ecef2pos(rtk->sol.rr, pos);
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ecef2enu(pos, rtk->x+3, vel);
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ecef2enu(pos, rtk->x+6, acc);
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if (rtk->na >= 6) ecef2enu(pos, rtk->xa+3, vela);
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if (rtk->na >= 9) ecef2enu(pos, rtk->xa+6, acca);
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fprintf(fp_stat, "$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
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week, tow, rtk->sol.stat, vel[0], vel[1], vel[2], acc[0], acc[1], acc[2],
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vela[0], vela[1], vela[2], acca[0], acca[1], acca[2]);
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}
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else
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{
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ecef2pos(rtk->sol.rr, pos);
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ecef2enu(pos, rtk->sol.rr+3, vel);
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fprintf(fp_stat, "$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",
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week, tow, rtk->sol.stat, vel[0], vel[1], vel[2],
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
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}
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/* receiver clocks */
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fprintf(fp_stat, "$CLK,%d,%.3f,%d,%d,%.3f,%.3f,%.3f,%.3f\n",
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week, tow, rtk->sol.stat, 1, rtk->sol.dtr[0]*1E9, rtk->sol.dtr[1]*1E9,
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rtk->sol.dtr[2]*1E9, rtk->sol.dtr[3]*1E9);
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/* ionospheric parameters */
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if (est&&rtk->opt.ionoopt==IONOOPT_EST) {
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for (i=0;i<MAXSAT;i++) {
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ssat=rtk->ssat+i;
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if (!ssat->vs) continue;
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satno2id(i+1,id);
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j=II_RTK(i+1,&rtk->opt);
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xa[0]=j<rtk->na?rtk->xa[j]:0.0;
|
||||
fprintf(fp_stat,"$ION,%d,%.3f,%d,%s,%.1f,%.1f,%.4f,%.4f\n",week,tow,rtk->sol.stat,
|
||||
id,ssat->azel[0]*R2D,ssat->azel[1]*R2D,rtk->x[j],xa[0]);
|
||||
}
|
||||
}
|
||||
/* tropospheric parameters */
|
||||
if (est&&(rtk->opt.tropopt==TROPOPT_EST||rtk->opt.tropopt==TROPOPT_ESTG)) {
|
||||
for (i=0;i<2;i++) {
|
||||
j=IT_RTK(i,&rtk->opt);
|
||||
xa[0]=j<rtk->na?rtk->xa[j]:0.0;
|
||||
fprintf(fp_stat,"$TROP,%d,%.3f,%d,%d,%.4f,%.4f\n",week,tow,rtk->sol.stat,
|
||||
i+1,rtk->x[j],xa[0]);
|
||||
}
|
||||
}
|
||||
/* receiver h/w bias */
|
||||
if (est&&rtk->opt.glomodear==2) {
|
||||
for (i=0;i<nfreq;i++) {
|
||||
j=IL_RTK(i,&rtk->opt);
|
||||
xa[0]=j<rtk->na?rtk->xa[j]:0.0;
|
||||
fprintf(fp_stat,"$HWBIAS,%d,%.3f,%d,%d,%.4f,%.4f\n",week,tow,rtk->sol.stat,
|
||||
i+1,rtk->x[j],xa[0]);
|
||||
}
|
||||
}
|
||||
if (rtk->sol.stat==SOLQ_NONE||statlevel<=1) return;
|
||||
/* ionospheric parameters */
|
||||
if (est && rtk->opt.ionoopt == IONOOPT_EST)
|
||||
{
|
||||
for (i = 0;i<MAXSAT;i++)
|
||||
{
|
||||
ssat = rtk->ssat+i;
|
||||
if (!ssat->vs) continue;
|
||||
satno2id(i+1, id);
|
||||
j = II_RTK(i+1, &rtk->opt);
|
||||
xa[0] = j < rtk->na ? rtk->xa[j] : 0.0;
|
||||
fprintf(fp_stat, "$ION,%d,%.3f,%d,%s,%.1f,%.1f,%.4f,%.4f\n", week, tow, rtk->sol.stat,
|
||||
id, ssat->azel[0]*R2D, ssat->azel[1]*R2D, rtk->x[j], xa[0]);
|
||||
}
|
||||
}
|
||||
/* tropospheric parameters */
|
||||
if (est && (rtk->opt.tropopt == TROPOPT_EST || rtk->opt.tropopt == TROPOPT_ESTG))
|
||||
{
|
||||
for (i = 0;i<2;i++)
|
||||
{
|
||||
j = IT_RTK(i, &rtk->opt);
|
||||
xa[0] = j < rtk->na ? rtk->xa[j] : 0.0;
|
||||
fprintf(fp_stat, "$TROP,%d,%.3f,%d,%d,%.4f,%.4f\n", week, tow, rtk->sol.stat,
|
||||
i+1, rtk->x[j], xa[0]);
|
||||
}
|
||||
}
|
||||
/* receiver h/w bias */
|
||||
if (est && rtk->opt.glomodear == 2)
|
||||
{
|
||||
for (i = 0;i<nfreq;i++)
|
||||
{
|
||||
j = IL_RTK(i, &rtk->opt);
|
||||
xa[0] = j < rtk->na ? rtk->xa[j] : 0.0;
|
||||
fprintf(fp_stat, "$HWBIAS,%d,%.3f,%d,%d,%.4f,%.4f\n", week, tow, rtk->sol.stat,
|
||||
i+1, rtk->x[j], xa[0]);
|
||||
}
|
||||
}
|
||||
if (rtk->sol.stat == SOLQ_NONE || statlevel <= 1) return;
|
||||
|
||||
/* residuals and status */
|
||||
for (i=0;i<MAXSAT;i++) {
|
||||
ssat=rtk->ssat+i;
|
||||
if (!ssat->vs) continue;
|
||||
satno2id(i+1,id);
|
||||
for (j=0;j<nfreq;j++) {
|
||||
fprintf(fp_stat,"$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%d,%d,%d\n",
|
||||
week,tow,id,j+1,ssat->azel[0]*R2D,ssat->azel[1]*R2D,
|
||||
ssat->resp [j],ssat->resc[j], ssat->vsat[j],ssat->snr[j]*0.25,
|
||||
ssat->fix [j],ssat->slip[j]&3,ssat->lock[j],ssat->outc[j],
|
||||
ssat->slipc[j],ssat->rejc[j]);
|
||||
}
|
||||
}
|
||||
/* residuals and status */
|
||||
for (i = 0;i<MAXSAT;i++)
|
||||
{
|
||||
ssat = rtk->ssat+i;
|
||||
if (!ssat->vs) continue;
|
||||
satno2id(i+1, id);
|
||||
for (j = 0;j<nfreq;j++)
|
||||
{
|
||||
fprintf(fp_stat, "$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%d,%d,%d\n",
|
||||
week, tow, id, j+1, ssat->azel[0]*R2D, ssat->azel[1]*R2D,
|
||||
ssat->resp [j], ssat->resc[j], ssat->vsat[j], ssat->snr[j]*0.25,
|
||||
ssat->fix [j], ssat->slip[j]&3, ssat->lock[j], ssat->outc[j],
|
||||
ssat->slipc[j], ssat->rejc[j]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user